CN100399993C - Direct manual examination of remote patient with virtual examination functionality - Google Patents

Direct manual examination of remote patient with virtual examination functionality Download PDF

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Publication number
CN100399993C
CN100399993C CNB038243563A CN03824356A CN100399993C CN 100399993 C CN100399993 C CN 100399993C CN B038243563 A CNB038243563 A CN B038243563A CN 03824356 A CN03824356 A CN 03824356A CN 100399993 C CN100399993 C CN 100399993C
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CN
China
Prior art keywords
sensory modulation
modulation subunit
signal
patient
pressure
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Expired - Fee Related
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CNB038243563A
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Chinese (zh)
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CN1688252A (en
Inventor
马克·P·翁布雷拉罗
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Cel Kom LLC
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Cel Kom LLC
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Priority claimed from US10/274,569 external-priority patent/US6726638B2/en
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Publication of CN100399993C publication Critical patent/CN100399993C/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/7475—User input or interface means, e.g. keyboard, pointing device, joystick
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/56—Details of data transmission or power supply
    • A61B8/565—Details of data transmission or power supply involving data transmission via a network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine

Abstract

A simulator assembly (600) for simulating the tactile response of an item is disclosed. The simulator assembly includes a playback module (602) having sensory modulation subunits (636) operable to exert a force in response to a n input signal. A tactile playback assembly (800) for translating input signal s into tactile sensations upon a user is also provided. The tactile playback assembly includes a playback garment (806) having sensory modulation subunit s adapted to generate a force upon a user in response to an input signal. An imaging exam assembly (900) for palpating a body and obtaining images of the body is also disclosed. An ultrasonic imaging system is further disclosed. A device for remotely conducting a direct manual examination of a patient is disclosed. A method of imparting tactile sensations to a body of a user is disclosed. A method of recording tactile data is disclosed.

Description

Utilize virtual examination functionality to direct manual examination of remote patient
Technical field
The present invention relates generally to be used to handle and/or obtain the equipment of tactile data, more particularly, relate to be used to transmit, the equipment of tactile data that record, playback and regeneration are obtained from the individual far position of distance there.
Background technology
In the 1980s,, use the idea of communication and computer system exchange of medical information between apart far medical practitioner and patient to facilitate the appearance of " tele-medicine " in order to overcome the phenomenon that the rural area doctor lacks.Along with the appearance of the Internet with the Voice ﹠ Video communication system of cheapness, the scope of tele-medicine continues development.Current, many doctors use Email and patient to communicate, and many patients are also using the Internet to search for general medicine information simultaneously.Yet the restriction of the Telemedicine System of existing form is to carry out gratifying physical examination.
The physical examination on basis is crossed the range request doctor collects relevant status of patient from various sources (medical history, directly physical examination, laboratory inspection and imaging research) customizing messages, analyzes these data then, influences treatment.The information source of most critical is from patient's actual physical examination.The accuracy that the physical examination that utilizes the expert to carry out is alone made correct diagnosis surpasses 90%.Although can pass through some medical information of phone, fax or Internet transmission, but contact the information that derives, the major limitation step in this whole just tele-medicine checking process according to the actual body between doctor and the patient during can't transmitting hand inspection.Can't long-rangely obtain physical data, and can't reliably transmit information, limit the reliability of the tele-medicine of very serious medical care problem to the doctor of non-adjacent position.
Therefore, need directly to carry out the patient of non-adjacent position the computer hardware and the software system of hand inspection, wherein need not the direct body contact of the reality between patient and the doctor, the doctor can carry out hand inspection to patient's body.In addition, need to collect sense of touch and carry out system for transmitting with " body contacts " data and by conventional Global Communications System.This type systematic will be provided for checking any patient's of any position device for doctor in the world, and above-mentioned position comprises rural area or remote districts, " battlefield " during emergency or the campaign, or any hostile environment.Simultaneously, need be converted to numerical data to the haptic force that applies and/or receive, the communications platform that maybe can transmit and receive any other type of this type of signal by the Internet transmits then, be transferred to the equipment of the other end at last, the latter is converted to suitable output (applying) haptic force with digital signal.In addition, need the above-mentioned digital tactile examination data of record, wherein can the playback digital tactile examination data, to reproduce or the model of lower floor's physical features of initial (inquiry) personnel that check of establishment system or article.
In addition, need to obtain simultaneously the imaging inspection assembly of tactile examination data and 2D or 3D in-vivo imaging data.Comprise in-vivo imaging will allow physician user obtain with check during the lower-hierarchy handled and the position and the related enhanced position anatomic information of internal feature of organ.Current, obtaining diagnosis 2D or 3D body imaging needs the patient to have additional testing component or enters diagnostic procedure.The non-intruding imaging system of current use comprises ultrasound wave, computer X-ray sectional analysis (CT) scanning, and NMR (Nuclear Magnetic Resonance)-imaging (MRI), radioisotope scan and positron emission x-ray tomography are analyzed (PET) scanning.CT scan, PET scanning and MRI require patient's body in a big shell, to generate data.Yet very portable, the safe system of ultrasonic system, this system use ultrasound wave to generate the auditory information that can be converted to 2D or 3D body image.Current, ultrasonic system requires to be familiar with the technical staff of ultrasonic equipment use or doctor ultrasonic probe manually is placed into region of interest on the patient body.Probe and the ultrasonic equipment physical connection that power supply and image processing system are provided.
Ultrasonic unit is launched pulses of ultrasound energy with characteristic frequency, and the latter is transferred to soma.Organize back echo, and by focused ultrasound.The echo that detection is returned from fixing organization, and use the gray level expressing image.The time of advent and signal strength characteristics according to back echo are determined the degree of depth and brightness.The frequency change of back echo is represented lower floor's motion of following structure.Use this information of imaging system software processes then, to generate the internal image of the structure of estimating.The doctor uses vision and spectroscopic data to make diagnosis and treatment decision-making.Many aspects of ultrasound investigation require technical staff or physician user to suppress body surface with the transducer probe, to detect the supplementary features of the understructure of estimating.
Therefore, need to detect between can two individualities in non-adjacent position and to transmit real-time tactile data, and the system of 2D and 3D ultrasound information.In addition, need between two individualities of non-adjacent position, to transmit simultaneously, to receive and to exchange the equipment of real-time tactile data data and imaging data, so that provide simultaneous real-time 2D or 3D is inner or outside body imaging for the user.In addition, need to allow the end user to feel or handle the tissue considered or body structure and can check the improved medical diagnostic equipment of the internal influence of the haptic force that applies.
Summary of the invention
According to the present invention, be provided for the simulator assembly of simulated items purpose tactile response.The simulator assembly comprises that its shape is at least the playback module of the part of the project of simulateding, and the playback module main body comprises a shell.This simulator assembly also comprises and is arranged in playback module body interior and a plurality of cavitys below shell.This simulator assembly also comprises a plurality of sensory modulation subunit, and wherein at least a portion of each sensory modulation subunit is arranged in the cavity of a plurality of cavitys.Simultaneously, each sensory modulation subunit is suitable for responding input signal shell is applied active force.
The simulator assembly can comprise a pressure transducer, and the latter is suitable for responding the active force that applies and generates an output signal.The simulator assembly can comprise the computer system that its function links to each other with sensory modulation subunit, computer system transferring input signal wherein, the active force that applies with dynamic control feel regulon assembly.Computer system can receive the output signal that sensory modulation subunit generates, and wherein uses the output signal that receives to determine the sensory modulation subunit input signal.Computer system can comprise a memory module, and this module comprises the data of the robustness that is used for defining the project that simulated, and wherein utilizes these data to determine the sensory modulation subunit input signal.
According to the present invention, the tactile playback assembly is provided, be used for the input signal that there receives from the player is converted to sense of touch on the user.The tactile playback assembly comprises interactive pressure playback garment, and coat links to each other with the user with removably.The tactile playback assembly also comprises the many unit that are arranged in the coat, and many sensory modulation subunit, and each sensory modulation subunit is disposed in the unit.Sensory modulation subunit is suitable for responding input signal and generates an active force on the user.
The tactile playback assembly can comprise sensory modulation subunit, the latter has variable pressure and generates equipment, the input signal that this device responds receives from the player there, nucleus formation power on user's health, wherein amount of force is variable, and is to determine according to the input signal that receives from the player there.The tactile playback assembly can comprise the playback equipment that is connected with sensory modulation subunit, is used to sensory modulation subunit that input signal is provided.The tactile playback assembly can comprise the playback equipment that can generate video output signals, and wherein the sensory modulation subunit signal is relevant with video output signals.
According to the present invention, provide the haptic data record component.The haptic data record component comprises interactive pressure playback garment, and coat links to each other with at least a portion of user with removably.The haptic data record component also comprises a plurality of unit that are arranged in the coat.The haptic data record component also comprises a plurality of sensory modulation subunit, at least a portion of each sensory modulation subunit is installed in the unit, sensory modulation subunit is suitable for generating an output signal, and the tactile forces that applies on this signal and the sensory modulation subunit is consistent.The haptic data record component also comprises the output signal recording equipment, and wherein the output signal recording equipment is connected with a plurality of sensory modulation subunit, is used to write down the output signal that sensory modulation subunit generates.
Sensory modulation subunit can generate the output signal of variable size, thereby the size of the tactile forces that applies on the size of output signal and the sensory modulation subunit is associated.The haptic data record component can comprise sensory modulation subunit, and the latter comprises that inside is embedded with the dull and stereotyped elastomeric material of pressure transducer, pressure transducer be suitable for generating directly with sensory modulation subunit on the relevant signal of tactile forces that applies.
According to the present invention, the imaging inspection assembly that is used to touch health and generates the image of health is disclosed.The imaging inspection assembly comprises that shell and its part arrange imaging device in the enclosure at least, and imaging device is exercisable to obtain the image of health.The imaging inspection assembly comprises that also its part arranges sensory modulation subunit in the enclosure at least, and comprises that variable pressure generates equipment, and variable pressure generation equipment is exercisable, so that generate touch pressure on health.Sensory modulation subunit also comprises pressure transducer, and pressure transducer is suitable for generating directly the relevant signal of interfacial pressure between the health with sensory modulation subunit.
Variable pressure generates equipment and also comprises expanding chamber, wherein guides pressure fluid into expanding chamber selectively so that expanding chamber expands, thereby generate required touch pressure on health.The imaging inspection assembly also comprises a valve, and valve is between expanding chamber and pressurised fluid reservoir, and valve is exercisable to control fluid inflow expanding chamber and to flow out from expanding chamber.The imaging inspection assembly also comprises layout ultrasonic transducer in the enclosure, and this transducer is suitable for to health transmission ultrasound wave.Ultrasonic transducer is suitable for detecting ultrasound wave.The imaging inspection assembly also comprises layout second ultrasonic transducer in the enclosure, and second ultrasonic transducer is suitable for detecting ultrasound wave.The imaging inspection assembly is exercisable, to obtain the internal image of health.
According to the present invention, provide ultrasonic imaging system.Ultrasonic imaging system comprises ultrasonic pulse generator and is arranged in the ultrasonic imaging system of primary importance.Ultrasonic imaging system comprises also and is used for emission and detects hyperacoustic ultrasonic transducer assembly that this ultrasonic transducer assembly is arranged in the second position.Ultrasonic transducer assembly links to each other with the ultrasonography display system with ultrasonic pulse generator by computer network.
According to the present invention, provide long-range the patient is carried out the equipment that the direct labor checks.This equipment comprises the manual part with at least one first sensory modulation subunit, first sensory modulation subunit detects the active force that applies on first sensory modulation subunit and responds the active force that detects and generates first signal, and the secondary signal that this device responds receives applies active force.This equipment also comprises patient examination module, and patient examination module has many second sensory modulation subunit, and second sensory modulation subunit can be selected to be connected with first sensory modulation subunit.Second sensory modulation subunit is exercisable receiving first signal, and first signal that response receives applies active force.Second sensory modulation subunit also is exercisable, detecting the active force of the active force that opposing applies, and generates secondary signal according to the drag that detects, and secondary signal is received by first sensory modulation subunit.This equipment also comprises recording equipment, and the latter carries out signal with first and second sensory modulation subunit and communicates by letter, and writes down first and second signals.
Can dispose this equipment, thus first sensory modulation subunit carry out signal with first computer and communicate by letter, second sensory modulation subunit is carried out signal with second computer and is communicated by letter.Communication network connects first computer and second computer.Simultaneously, can dispose this equipment, thereby manual part and patient examination module are positioned at non-adjacent position.
According to the present invention, provide the health that gives the user method with sense of touch.This method comprises that interactive pressure playback garment has the linear actuators array with a part of health of interactive pressure playback garment parcel user, and linear actuators can respond input signal and generate tactile forces on user's health.This method also comprises the connection interactive pressure playback garment, carries out signal with the data input device that can generate a series of input signals and communicates by letter, so that be transferred to the linear actuators array, thereby the health that gives the user selectively is with tactile forces.
According to the present invention, the method for record haptic data is disclosed.This method comprises a part of health with active force detecting pad parcel user, and active force detects and is lined with many sensations unit, and the tactile forces that the sensation cell response receives on the active force detecting pad generates output signal.This method also comprises interconnect function power detecting pad, communicates by letter so that carry out signal with the output signal recording equipment.This method also comprises makes the active force detecting pad suffer at least one active force, and utilizes output signal recording equipment record tactile forces to receive the output signal that pad generates.
Description of drawings
By together with accompanying drawing with reference to following detail specifications, above-mentioned aspect of the present invention and many attendant advantages will be more readily understood, wherein accompanying drawing is:
Fig. 1 is the preferred implementation of the system that uses of the present invention, illustrates that the doctor checks the situation away from doctor's patient;
Fig. 2 is the plane graph according to manual part of the present invention;
Fig. 3 is the schematic section of the manual part of Fig. 2;
Fig. 4 is the cross section sketch according to the sensory modulation subunit of manual part shown in Figure 3 of the present invention;
Fig. 5 is the plane graph of preferred implementation of patient examination module of checking patient's trunk according to the present invention;
Fig. 6 is certain unitary sectional view of patient examination module shown in Figure 5;
Fig. 7 is the plane graph of second preferred implementation of patient examination module of checking patient's trunk according to the present invention;
Fig. 8 is certain unitary sectional view of patient examination module shown in Figure 7;
Fig. 9 is the general handling process of preferred implementation of the present invention;
Figure 10 A-10C is a flow chart, describes the function of the software be used to control preferred implementation shown in Figure 1 in detail;
Figure 11 is the perspective view of first alternate embodiment that is commonly referred to as the simulator assembly formed according to the present invention, and the simulator assembly comprises the body-form playback module of utilizing cable to link to each other with data handling system;
Figure 12 is the decomposition vertical view of the body-form playback module described of Figure 11, wherein removes the simulation top layer to show the unit cell arrangement of lower floor;
Figure 13 is certain unitary sectional view of the body-form playback module described of Figure 12, and this cross section is by the intercepting of the cross section 13-13 among Figure 12, utilizes the sensory modulation subunit that is dispersed in this unit to be described;
Figure 14 is the front view that is suitable for the alternate embodiment of the sensory modulation subunit that Figure 11 and 12 body-form playback module of describing use formed according to the present invention;
Figure 15 is the front view that is suitable for the alternate embodiment of a pair of sensory modulation subunit that Figure 11 and 12 body-form playback module of describing use formed according to the present invention;
Figure 16 is the front view of second alternate embodiment formed according to the present invention, and this alternate embodiment is commonly referred to as the tactile playback assembly, and the tactile playback assembly comprises playback apparatus, Multi Channel Controller and interactive pressure playback garment;
Figure 17 is the front view of the 3rd alternate embodiment formed according to the present invention, and this alternate embodiment is commonly referred to as the amusement record component, and the amusement record component comprises recording equipment, Multi Channel Controller and interactive pressure playback garment;
Figure 18 is the perspective view of the 4th alternate embodiment formed according to the present invention, and this alternate embodiment is commonly referred to as the imaging inspection assembly;
Figure 19 is the perspective view of the imaging inspection assembly described of Figure 18, is expressed as the bottom that picture is checked assembly;
Figure 20 is the sectional view of the imaging inspection assembly described of Figure 19, and this cross section is by the intercepting of the cross section 20-20 among Figure 19;
Figure 21 is the perspective view of the alternate embodiment of the imaging inspection assembly described of Figure 18-20; And
Figure 22 is the general process chart of the 4th alternate embodiment described of Figure 18-20 formed according to the present invention.
The specific embodiment
Equipment disclosed herein makes the doctor to carry out direct physical examination to patient's body, and does not require that direct body contact or patient and doctor are contiguous.Thereby can collect the physical data of obtaining by the contact of the direct labor between patient and the doctor usually, and transmit via conventional Global Communications System.Up to now, for making " tele-medicine " that diagnosis and therapeutic scheme carry out, it is the medical information exchange between patient and the doctor, can only proceed to certain a bit, if doctor's check result is very crucial to decision making process, advise that then the patient goes to see its private doctor or goes emergency room to look for the doctor to carry out physical examination.With regard to the progress and the potential global spectators of consumer of global communication platform aspect, can not long-rangely obtain physical data and can not be transferred to the doctor who is positioned at the another location reliably, be effectiveness and the medical practice progress of efficient and the obstacle of medical science ability that utilizes other business enjoying.
As used herein, the implication of following term is:
The active force that sensory modulation subunit means any applies on can (1) checkout equipment and generate active force output signal related with detection; And/or (2) receiving inputted signal and generate the active force relevant and/or the equipment of displacement with the input signal of reception.
Manual part, promptly HCU means a part of health (as user's hands) that is suitable for contacting or admitting the user and has the equipment of modulating sub-component for the approaching sensation of the user's who admits hands.
Patient examination module, i.e. PEM means the part of (or other organism) tissue that is suitable for admitting health and has the equipment of the sensation modulation sub-component adjacent with the tissue part that admits.According to the present invention, PEM can be used for patient, but should be appreciated that, term PEM also comprises and is well-suited for other purpose and tissue is carried out the sense of touch inspection or other object or material are carried out the equipment that sense of touch is checked.
Referring now to Fig. 1, be used for long-range three parts that the present invention includes of obtaining and transmitting the medical data of deriving from health: manual part 100 (HCU), patient's detection module 200 (PEM), and the computer software that obtains, calibrates, transmits and change of the physical data between control doctor (passing through HCU) and the patient (passing through PEM).The present invention allows the doctor that hand is applied to be transferred to the patient who is positioned at a distant place thus on the HCU 100, is applied to the selected position of patient body by PEM 200.To return from the stress reaction of patient body, simulate the direct contact between doctor and the patient thus to the doctor.
Manual part (HCU)
HCU 100 shown in Figure 2 has the molded plastic shell 101 that forms shape with actual hands.The advantage of this class formation be in light weight, be easy to make, durable and shock resistance.This device structure also can use other material, as timber, paper, aluminum, stone, Plexiglas TMOr still need the material developed.HCU 100 is shaped to hold the part of staff, preferably holds the total inner surface of staff, staff has palm portion 102, finger tip 106 and thumb part 105, and palm portion 102 comprises proximal palm part 108 and distal palm part 107.The purpose of all design configurations is to provide comfortable contact surface between the motor portion of user's feel and HCU 100.In a preferred embodiment, the center of HCU 100 slight convex in palm surface 102.The periphery of palm surface 102 is lower slightly than the border 104 of HCU 100, so that user's hands cosily leans against on the palm surface 102.By making palm exceed the position (thereby the horizontal plane of user's dactylus is higher than the other parts of finger or hands) of finger tip 106 and proximal palm part 108 slightly, form broad pyramidal profile.This design provides finger tip, distal palm and proximal palm pressure application and reception, equipment control and functional the most flexibly.All parts of HCU 100 permission users' the palm and the palm surface of finger contact fully with the palm surface 102 of HCU 100.In a preferred embodiment, the shell 101 of HCU 100 is that section 101a and the 101b by two lateral arrangement forms, and there is a horizontal breach 110 the folding line position in the middle part of user's palm usually.Two sections 101a move with 101b and are connected, and allow to vertically move, thereby can adjust with respect to the length of hands, to hold the hands of different sizes.As selection, HCU 100 can comprise " glove " assembly (not shown), thereby whole hands is inserted in the manual part.Contact with the upper surface (the back of the hand) of hands thus, to allow importing function associated with the inspection campaign and the sensation that derive according to the upper surface of operator's hands.
Groove or cavity 112,114 and 116 are provided in finger tip 106, distal palm 107 and proximal palm part 108 respectively.In each groove 112,114 and 116, setting pressure relay and receive sensory modulation subunit 140, in Fig. 3 clear see.The top of sensory modulation subunit 140 is made up of the flat board 142 of flexible material, and flexible material is as constituting the silicone rubber or the soft plastic matrix on simulated skin surface.Other suitable material comprises other the natural or synthetic biomaterial (synthetical, mimic, artificial culture or engineering Skin Cell or succedaneum) that is used for this " skin " contact surface.The size of each flat board 142 is with each groove 112,114 among the HCU 100 and 116 change in size.Usually,, the sensory modulation subunit 140 of finger tip size is arranged,, the sub-component 140 of proximal palm size and the sub-component 140 of distal palm size are arranged respectively for proximal palm 108 and distal palm 107 parts for each finger tip 106 zone of this equipment.For the sensitivity that increases HCU 100 and functional, can further segment each module, and each groove comprises the littler function sub-component of describing based on following general sub-component.
Referring now to Fig. 4, sensory modulation subunit 140 comprises the unidirectional single channel pressure transducer 144 in the flat board 142 that is embedded in simulated skin.The work surface of pressure transducer 144 or compression face 145 are up, promptly in the face of the direction of the palm surface of user's hands.Determine the orientation of pressure transducer 144, thereby user's applied pressure is applied on the work surface 145 of pressure transducer 144, and can directly feel back applied pressure or active force from transducer 144.In a preferred embodiment, single pressure transducer 144 is positioned at each finger tip 106, and each palm portion 107,108 is subdivided into two pressure areas.Electric wire or other suitable connection mechanism (not shown) provide and enter and from the signal of pressure transducer 144.
The simulated skin slab 142 that is embedded with single channel pressure transducer 144 is installed on the thin support platform 146, and support platform 146 is preferably made with metal or plastics.Be connected with linear actuators below the support platform 146, the latter is that variable force generates equipment, and as the rheostat of single channel piston type, or other transformation generates equipment 148.Can realize that this paper is called the linear actuators of " piston resistor " with many modes of knowing in this field, promptly transformation generates equipment 148, comprises utilizing electronics, machinery, pneumatic or hydraulic pressure to handle the equipment that generates variable force.For example, be in the U.S. Patent No. 5,631,861 of Kramer the invention people, the typical sample of this kind equipment of device description of being called shown in its Fig. 8 a-m " finger tip texture simulator ".In preferred implementation of the present invention, use the equipment that utilizes magnetic force to promote.Piston resistor 148 is according to the response signal that derives from patient examination module 200 (following description), provides contrary with respect to the bottom surface of simulated skin slab 142 and presses or resistance.Dull and stereotyped 142, transducer 144, support platform 146 and piston resistor 148 are arranged in the groove 112,114 and 116 among the HCU 100.In each groove 112,114 and 116, provide hole 150, to insert the free movable end of piston resistor 148.Select the degree of depth of hole 150, thereby support platform 146 exceeds the bottom surface of groove slightly, so unique resistance of experiencing of user is the resistance of simulated skin slab 142 self.
Various types of pressure transducers all are that the technical staff knows, and suitable the present invention uses.For example, as the restriction to scope of the present invention, the U.S. Patent No. 6,033,370 of issuing people such as Reinbold does not disclose the capacitive pressure transducer that accompanies polyurethane foam between two conductor layers.People such as Duncan are in U.S. Patent No. 4,852, also disclose similar devices in 443, wherein the compressible ledge on the electrode for capacitors are arranged into the two ends of dielectric piece.The invention people is the pressure transducer that the U.S. Patent No. 5,060,527 of Burgess discloses based on the adjustable resistance element.
Referring again to Fig. 2, in the corresponding thumb part 105 of HCU 100 button 152 is installed, be used for control and selection and computer software function associated and option (for example, mousebutton control or other input equipment).Tracking ball 154 is supported in the bottom surface of HCU 100, is used to provide the computer selection function, and the two-dimensional coordinate location of HCU 100 in the space relevant with the patient by PEM 200.Skilled artisan, button 152 and tracking ball 154 provide the basic function of computer mouse, and can use they and computer to carry out alternately with known manner.Obviously, can use the selection mechanism of other type, comprise and touch quick pad and optical system.HCU 100 also links to each other with signal processor 130 and modulus/digital and analogue signals transducer 132.
HCU 100 is as interface between doctor and the remote patient or contact.HCU 100 receives the usefulness mechanical means applied pressure signal of the lacking practice and skill one-tenth that utilizes the doctor, and be converted to the signal of telecommunication by pressure transducer 144, therebetween, simultaneously the input electrical signal of deriving according to the stress reaction of patient's detection module 200 is converted to resistance signal, this signal is applied on the piston resistor 148 of installing near support platform.Sensory modulation subunit 140 is the input pressure that applies of " perception " user and the ability that direct resistance feedback response is provided to the user simultaneously simultaneously, the actual activity that takes place when can analog subscriber pushing other object with hands.PEM 200 (actual patient reaction) in response to the direct pressure that applies to the patient (as be used to from the input pressure of HCU 100 determine like that) resistance of the higher degree of detection, be given to HCU 100, and feed back to the doctor by piston resistor 148.Increase resistance that PEM 200 detects and can increase the active force that the bottom surface to support platform 146 applies.This is converted to sensation or " giving deficiency " of the bigger resistance of simulated skin slab 142.The user is interpreted as the feedback resistance direct reaction of the active force that the patient applies the doctor.
HCU 100 can select to install single or multiple multi-path pressure transducer/resistor devices, and via manual part the absolute change of resistance is returned hands to the doctor.As selection, the thumb part 105 that is used for the software command function can be installed sensory modulation subunit 140.Thumb action be integrated in the checking process ability and to the oppositely input sensation of thumb part of hands, expanded function ability and the sensitivity of HCU 100 can be provided.The complex embodiment of HCU comprises and the contacting fully of each part of operator's hands, and many sensory modulation subunit 140 of using in HCU.The number of sub-component 140 only is subjected to the restriction of the ability of miniaturization bidirection press transducing devices.Many sensory modulation subunit allow the user to generate and reception is imported and the sensation input from the machinery of each part of operator's hands.
Patient examination module (PEM)
Referring now to Fig. 5 and Fig. 6, PEM 200 is made up of the structure 202 of liner or similar liner, and structure 202 is to use the softish half submissive material such as nylon, rubber, silicon or soft plastic matrix to make.Whole liner 202 all is solid, preferably has the simulated skin slab 142 similar viscoelasticitys with HCU 100.Liner 202 is subdivided into the infrastructure element that calls unit or unit area 204.The number of the unit 204 in the overall dimensions of liner 202 and the liner 202 changes with application-specific.Each unit area 204 is corresponding to a zone in the liner 202, and its size preferably and the corresponding sensory modulation subunit 140 of HCU 100 big or small similar.Just as illustrated in FIG. 6, single channel pressure transducer 244 is installed in each unit 204, its work/receiving plane 245 is in the face of patient's direction.Preferred pad 202 is successive gel type structure 242, and many embedded pressure transducer 244 are wherein arranged.The back side 206 of liner 202 comprises a softish semi-rigid sheeting.At present, the preferred material at the back side 206 is the plastics or the polymeric material of rigidity backing that can holding unit zone 204, but allows some bending to hold various bodily form sizes.Also can use the more firm material such as metal, timber or composite, as long as the contoured surface articulation on every side of rigid back lining structure and consideration health can be provided.The linear actuators that the variable pressure of single pass piston type is generated sensory modulation subunit 240 compositions is connected on the bottom surface of thin support platform 246, and support platform 246 is preferably made with metal or plastics.The size of support platform 246 preferably is similar to the size of the finger tip 106 among the HCU 100.In the center below each pressure transducer 244 of the junction between unit 204 and the backing 206, the variable pressure of piston type is generated equipment 248, it is similar linear actuators, be embedded in the backing 206, the orientation be the support platform 246 below the pressure transducer 244 central point below.
Checking that liner 202 is placed directly on the patient's body surface portion that needs to check, and for example utilize the hasp 250 of nylon hook lopps type to fix.Nylon shackle hasp 250 provides adjustable, thereby can be applied to the various bodily forms and size.Simultaneously, can make the vest that is used for chest applications to liner 202; The bellyband that is used for abdominal applications; Be used for sleeve, gauntlet bandage or glove that upper limb is used; Be used for trouser legs or boots that lower limb are used; Or be used to point or the fillet band of the little application of toe and so on.Although the preferred implementation of PEM is configured to the liner of stationary positioned, handle the surface of the epidermis by the patient or endoceliac mobile detection part also within the scope of the invention by patient, other office workers or robot.
In a preferred implementation,, PEM 200 is connected to order control chamber 300 via electrical umbilical 302.In this preferred implementation, order control chamber 300 comprises power supply 304, little central processing unit (CPU) 306, signal processor 308, digital to analog converter 310 and communication system 312.Order control chamber 300 receives from the data of PEM 200 and to its transmission data, PEM 200 is connected to doctor's HCU 100.Power supply 304 preferably has the ability of using interchange (domestic or industry) or direct current (battery-operated) to carry out work.Although illustrate umbilical cord 302, other data link such as wireless data link also within the scope of the invention.
The communication system 312 of preferred implementation comprises the internal modems (not shown), thereby the computer 160 that is positioned near the doctor the HCU 100 can link to each other with near the remote computer 260 being positioned at PEM 200.Other communication system also is feasible, comprises following system: (1) comprise fiber channel and non-optical fiber based on light/communicate by letter based on optical, based on the data/voice/video-signal transmission method of light; (2) radio communication includes but not limited to transmit or to receive radio frequency, hyperfrequency, microwave or the satellite system of voice and/or data message; And (3) utilize any following method of present unworn medium transferring voice or data, visible and invisible ray, biomaterial (comprising biorobot or viral vector) or the atomic particle/subatomic particle of unworn medium such as infrared light, magnetic force, other wavelength.Consider that reduction directly affacts the weight on the patient, size restrictions and possible safety (that is, reducing the RF or the microwave radiation of communication/transfer of data) preferably are connected to liner 202 to order control chamber 300 by flexible umbilical cord 302.Simultaneously, umbilical cord 302 is connected to power supply 204 to pressure transducer 244 in the sensory modulation subunit 240 and variable pressure generation equipment 248.
Miscellaneous equipment structure can comprise single or multiple multi-path pressure transducer/resistor devices, and can return hands to the user to the absolute change of resistance by HCU 100.For the sensitivity that increases PEM 200 and functional, can further segment each unit area 204, and in PEM 200, use many sensory modulation subunit.The number of function sub-component only is subjected to the restriction of the ability of miniaturization bidirectional sensory modulation subunits.Many little sensory modulation subunit can generate and receive from the machinery input of each part of PEM 200 and sensation input.
Fig. 7 and Fig. 8 represent to use second embodiment of the PEM 400 of pneumatic pressurized fluid media or hydraulic pressurized fluid media rather than above-mentioned electromechanical structure.In second embodiment, PEM 400 is made up of the structure of liner 402 or similar liner, and liner is to use the softish half submissive material such as nylon, rubber, silicon or soft plastic matrix to make.Liner 402 is subdivided into many unit 404.The number of the unit 404 in the overall dimensions of liner 402 and the liner 402 changes with unit type and application.Each unit 404 is designed to the cavity 416 and the single pressure transducer 444 of water-tight, cavity 416 has a bifunctional inlet/outlet line 410 and a valve 414, so that the pressurized fluid media such as air, water, hydraulic fluid or electrochemical gel flows into and flows out.Pressure transducer 444 is a single channel transducer, is similar to the transducer 144 of HCU 100 described above.Pressure transducer 444 is installed in the material piece that directly affacts on the body surface.Therefore, the open cell structure is in the back of pressure transducer 444.The receiving surface 445 of transducer is towards patient's direction.
Liner 402 is placed directly on the patient's body surface portion of need checking, and for example utilizes the hasp 250 of shackle type to fix.Shackle hasp 250 provides adjustable, thereby can be applied to the various bodily forms and size.Simultaneously, as mentioned above, can make vest, bellyband, sleeve, gauntlet bandage, glove, trouser legs, boots to liner 402 or be used to point or the fillet band of the little application of toe and so on.If necessary, the outer surface of liner 402 can comprise that adds a double-layer (for example, lead, metal or plastics), so that additional stability or contrary the pressure to be provided.The inlet/outlet line 410 of each unit 404 is connected to pumping mechanism, and the latter comprises the pump (not shown) and stores the pressurizing reservoir 418 of pressurized fluid media.Place valve 414 between two parties along the inlet/outlet line 410 between pressure reservoir 418 and each unit 404.As mentioned above, via umbilical cord 302 PEM 400 is connected to order control chamber 300.
Consider that reduction directly affacts the weight on the patient, size restrictions when this molectron is put into sub-fraction on the health such as extremity or finger, or possible safety (that is, reducing the RF or the microwave radiation of communication/transfer of data), the control section of PEM 400 is preferably away from the patient.The specification of order control chamber 300 and function are as mentioned above.Simultaneously, umbilical cord 302 connects pressure transducer 444 and power supply 304, and the valve 414 of inlet/outlet line 410 and pressurized fluid media.
Rely on special HCU 100 designs, pump and pressurizing reservoir 418 can be by being included in the order control chamber 300, simultaneously on PEM 400, perhaps in two zones independent of each other.
Utilize air to need to use semi-enclosed circuit design as the PEM 400 of pressurized fluid media.In first-selected embodiment, pumping mechanism is drawn into the air of device external in the single pressurizing reservoir 418, is applied to the back side of liner 402 thus.The size of pressurizing reservoir 418 usually and liner 402 measure-alike.Valve 414 is positioned at a plurality of positions with lower floor's unit 404 corresponding pressurizing reservoir 418.Therefore, pressurizing reservoir 418 directly communicates with each pressure unit 404 via valve 414 between two parties.The pressure control circuit (not shown) is integrated in the pressurizing reservoir 418,, and this information is returned to order control chamber 300, press to guarantee suitable cabin with cabin pressure in detecting.After activating suitable unit 404, realize required pump room pressure (consistent) with suitable impressed pressure signal from HCU 100, and via order control chamber 300 consequent patient's reaction signal is returned to HCU 100, utilize pump that the air in the barochamber 416 is discharged in the atmosphere.The PEM 400 of use hydraulic pressurized fluid media comprises the fluid system circuit of a self-holding sealing.
The function of PEM 400 is to give the patient user at HCU 100 applied pressures direct " transmission ", and the HCU 100 that gives the doctor from patient's the signal of resistance response as a result loopback.By the suitable capping unit 404 that the HCU 100 " selections " that uses software and doctor will pressurize, can check the different piece of the health that the scope of PEM 400 is interior.Software sends appropriate command, to open and selected unit 404 corresponding valves 414.The number of selected unit 404 wishes that with the doctor " pushing " is regional consistent with the patient's body of the reaction that draws the patient " hands " that add pressed.In addition, the doctor can independently select can be to the unit or the body region of these user's loopback returning pressure data.Although pressurized in many cases unit also can be to doctor's HCU 100 loopback returning pressure data signals, for some audit function, preferably pressurize one group of unit and receive the reaction of different units.
Simultaneously, it is contemplated that installation, configuration the 2nd HCU, so that the opposite at a HCU holds (another) hands, its Chinese physician uses a hands to exert pressure (by a HCU and PEM) to patient's a certain position, and the another hands receives the stress reaction (by the 2nd HCU) of this patient's different parts.
Computer software control is used for the order of various functions, PEM 200 or 400, mechanics of system and the communication protocol of doctor's HCU 100.The function of HCU 100 comprises the unit selection function, be used for activating activated special element of needs or unit group, and activation is used for transmitting the unit of inverse signal as a result.Simultaneously, this software can assign doctor's the particular pressure reaction liner of HCU 100 as the transmission liner of the pressure signal that is used for transmitting the doctor, and is used for returning to the doctor reception liner of patient data.
Simultaneously, utilize computer software to follow the tracks of the dimensional orientation of doctor's HCU 100 with respect to patient body.Can explain the motion of HCU 100, and send to PEM 200 or 400, with the motion of artificial hand on patient's body.In addition, anatomical database can be installed, dissect and three-dimensional perspective with the cross section of particular body portion that checking is provided.
This software applies actual pressure reaction conversions from the doctor to HCU 100 is the signal of telecommunication.The standardization of signal and signal intensity, calibration and monitoring in real time are typical program functions.Electrical signal conversion also is responsible for by this software and from the host-host protocol of the transmission of HCU 100 to PEM 200 or 400, vice versa.Host-host protocol comprises the signal transmission on continental rise and the non-land-based communication platform.All pumps and valve command, comprise pump chamber pressurization, the suitably calibration and the conversion of the signal of telecommunication of pressurization order are given in the related passback of the equivalent value of the actual pressure that applies with manual part, and the opening/closing state of selected valve is also by this device software control.
Fig. 9 explanation is used for the general process chart of the functions of the equipments of electromechanics of the present invention and pneumatic/hydraulic pressure embodiment.By using HCU 100, the doctor need to select corresponding unit 202, activated and manual inspection area or 404 following area-of-interests.By exerting pressure to HCU 100 via sensory modulation subunit 140, generation sends to the signal of doctor's computer 160 by signal processor 130 and analog-digital converter 132, then, PEM 200 below the computer 160 sending computer orders, the area-of-interest that points to the pressure signal that activates HCU 100 or 400 sensory modulation subunit 240 or 440.Activate the regional corresponding pressure transducer 244 or 444 of wishing after the stimulation of exerting pressure, to carry out the patient of " touch " with this user then.This order activates the pressure transducer 244 or 444 of receiving element, thereby can be to doctor's HCU 100 passback output signals.
Then, the sensory modulation subunit 140 that the combination in any of doctor by using finger tip, proximal palm and distal palm surface (from single finger tip to whole palm surface) directly pushed HCU 100 generates the input pressure stimulation that the required active force with he or she applies equates during the manual patient of inspection.Applied force changes with the patient's of individuality, ambient conditions and checking zone.Pressure transducer 144 detects sensory modulation subunit 140 applied pressures of doctor to HCU 100, and is converted to electrical output signal.Electrical output signal is sent to signal processor 130, and the analog electrical signal after handling is converted to digital signal 132.Then digital signal is input to doctor's computer 160.
In doctor's computer 160, software program is responsible for the various transmissions of HCU 100 and PEM 200 or 400 and the software command of the link system path between the receiving unit; The signal processor 130,138 of user side and patient end equipment, pressure transducer 144,244,444, piston resistor 148, and the calibration of variable pressure generation equipment 248, and the electrical output signal that the electrical input signal of HCU 100 is converted to corresponding PEM 200,400.If PEM400 uses pumping system, then need the pressure transducer (not shown) in the calibrate medium pressurizing reservoir 418.Doctor's computer 160 transmits PEM 200,400 signals of telecommunication and relevant software command via communication system 312 to remote computer 260.As selection, patient end (that is far-end) can use and be positioned at PEM 200 or near 400 independently order control chambers 300.Utilize the post processing 308 of digital to analog converter, it is analog electrical signal 310 that digital pressure is generated signal transition, and then, the suitable pressure of selecting in advance that sends PEM 200 or 400 to generates equipment.PEM 200 or 400 applies directed forces to the patient, and the latter is the active force that applies to HCU 100 based on user or doctor.
For PEM 400, this software is responsible for receiving the input electrical signal of each zone of action of HCU 100, estimates to be applied to the corresponding numerical value of each input pressure of the various piece of HCU 100, and is special pumping order with this information translation.Remote computer 260 to the remote location that is positioned at the patient transmits pressure command then, perhaps directly is sent to the order control chamber 300 of previously described PEM400.Then, PEM 400 activates pumping mechanism, and compression chamber 418 is pressurizeed, and is applied directly to the output pressure that the pressure on the HCU 100 equates so that reach with the doctor.Utilize the internal pressure in pressure monitor sensor cabin 418, until reaching required input pressure, pressure transducer provides the continuous feedback that continues pumping or stop pumping.Via inlet/outlet line 410,, the pressure medium in the compression chamber 418 is transported in each selected unit 404 by the pressure valve of opening 414.Pressure medium flows in the selected unit 404, increase unitary volume, and internal element pressure is consistent at the active force that HCU 100 applies with the doctor.
PEM 200 or 400 downward forces that apply to the patient will cause patient's back reaction, and its scope is from being examined the zone according to not having resistance and further caving in until very big resistance, i.e. " guarding ".Cell pressure transducer 244 or 444 will detect the resistance that response comes the patient of the unitary applied force of self-activation.
Is the activation pressure transducer 244 of PEM 200 or 400 or the 444 mechanical resistance reaction conversions that detect the signal of telecommunication, and passback is given order control chamber 300 or is positioned at the remote computer 260 of patient position.As mentioned above, for the input command collection, this analog electrical signal need handle 308 and be converted to digital signal 310.Via communication system 312, this digital signal is returned computer 160 to the doctor.As mentioned above, output signal for HCU 100, software program is responsible for receiving the input digit signal of telecommunication of each zone of action of PEM 200 or 400, estimates the corresponding value of the output pressure of each PEM 200 or 400, and is converted into the resistance signal of equal digital HCU 100.Then, this digital signal is converted to equal analog electrical signal 132, carries out post processing 130, and point to the suitable piston resistor of selecting in advance of HCU 100.The output resistance that piston resistor 148 generates in HCU 100 equals the reaction pressure that the patient responds the input pressure stimulation generation of HCU 100.
The reverse blocking power that piston resistor 148 provides will provide the touching simulation of the reaction of the pressure on the selection area of the dissection of patient to being applied to this patient for the doctor.This system is real-time, dynamic, thereby the doctor can the continuous analog releasing push or partly remove and push maneuver in the unit area of selecting in advance.Three key components of this equipment are: doctor's manual part, computer software and provide continuously, in real time, the patient examination module of movement response feedback loop system.The doctor can explain this doctor's applied pressure and the patient's that feels near the doctor's of manual part hands resistance response between the difference resistance, and be used for medical decision making.
Figure 10 A-10C represents to use in the first-selected embodiment flow chart of the entire process of software control.User's (being generally the doctor) at first logins 500 systems.Can utilize any conventional method that login mechanism is provided, for example comprise biological characteristic scanner among the HCU (that is, finger-printer reader, not shown), perhaps more conventional User Recognition and the password request that in doctor's computer 160, provides.Then, this software is inquired about 502 system date and times, set up 506 with the state that is connected and checks HCU and PEM of PEM, and set up 506 necessary communication links between them.In first-selected embodiment, utilize doctor's computer 160 visits 508 first data bases, to obtain the various calibration factors of HCU and PEM assembly, assembly such as pressure transducer and pressure generate equipment (linear actuators).Carry out 510 various other function of initializing by this software, these functions comprise the sample rate of build-up pressure transducer, and initialization is also calibrated assembly (for example, " zero pressure " standard of build-up pressure transducer).
Import 512 patients sign and biological information then, checking the patient's who is used for medical record identity, and set up to checking helpful basic parameter, as patient's whole body size and the age.Then, the doctor selects 514 regions of anatomy that need check.In first-selected embodiment, visit 516 database of anatomical data, the data base comprises the static images or the animation of the anatomic part that will check.It is contemplated that except the general information relevant with the anatomic part that will check, embodiments of the present invention can be used patient's medical treatment and biological information, to adjust various systematic parameters, as the sensitivity of pressure transducer and linear actuators.The doctor selects 518 the part of the HCU of output signal will be provided to PEM then, selects 520 parts of HCU that receive the feedback pressure of PEM, selects 522 to receive the unit of PEM of the pressure signal of HCU, and selects 524 unit to the PEM of HCU loopback pressure signal.Can expect in major applications between movable HCU part and the activated PEM unit correspondence is one by one arranged, for example, the HCU sensory modulation subunit sends pressure signal to the PEM unit, and receives from the unitary pressure signal of same PEM.Yet the ability that can separate transmission and received signal can provide additional functional for this system.The present invention considers to separate the system of HCU input and output pressure signal.
Simultaneously, this software can be coordinated the position and the PEM of the activation part of 526HCU, thereby this system can follow the tracks of the motion of HCU, is similar to rolling mouse, so that corresponding change takes place in the PEM unit that is activated.Before to any active force of this system applies, can use 528 predetermined active force change functions, as the reduction of active force amplification/expansion or HCU and PEM output signal/minimize.The user applies 530 active forces to HCU, this pressure signal generates 532 low-amperage signals in pressure transducer 144 (HCU-P1), this signal is sent to signal processor to generate 534 corresponding high ampere signals, be converted to 536 digital signals (D-HCU-P1) then.Use D-HCU-P1 generation 538 is used for the digital pressure signal (D-PEM-P1) of PEM, and transmits 540 to remote computer 260 from doctor's computer 160.Then the D-PEM-P1 pressure signal is converted to 542 low-amperage analogue signals (PEM-P1), this signal application is generated equipment 248 in the variable pressure of PEM, and apply 546 corresponding active forces to the patient.
Utilize selected PEM unit to detect 548 patients' resistance response, thereby generate 550 pressure response signal (PEM-P2), handle this signal to generate 552 high ampere signals and to carry out digitized 554 (D-PEM-P2).Use D-PEM-P2 pressure signal generation 556 to be used for the respective digital pressure signal of HCU, transmit 558 computers from remote computer to the doctor, and be converted to 560 analogue signals, rheostat 148 to the piston type of suitable HCU provides 562 these signals, so that generate responsive force in HCU.If checked 566, then this system resets, so that allow the doctor to begin to check the different parts of this patient's dissection.Otherwise the doctor can apply additional forces and check patient's addition reaction.
Although this process is to describe from the viewpoint of preferred implementation, for those skilled in the art, it is conspicuous that said process is made various changes.For example, following embodiment is feasible, and wherein available from the pressure signal of pressure transducer need not pretreatment and be high ampere signal, and perhaps pressure transducer can use with integration A-D transducer, thereby directly generates digital signal.As selection, can be directly connected to general purpose computer or exclusive data processing system to HCU and PEM, wherein user and patient are very approaching.Obviously, need not anatomical database additional functional is provided, also can implement the present invention.In addition, for those skilled in the art, obviously can revise the handling process shown in Figure 10 A-10C, with hydraulic pressure or the pneumatic embodiment that adapts to PEM described above.
HCU 100 is used for simulating the patient's body that is positioned at remote locations to check.Application in the medical domain is included in the ability of in the hostile environment patient being checked, hostile environment such as deep-sea, space, battlefield surroundings, remote locations and/or locations.The present invention also is suitable for non-medical and/or recreational use, and the tactile response of another individuality, entity or the object that are positioned at remote locations was checked, experienced or cause in individual hope this moment.
Portable forms can be applied to such as the medical station in the workshop, so the patient need not the clinic that the doctor is gone in the work of leaving behind.
Simultaneously, it is contemplated that, can directly revise the present invention, so that when using automatic system to undergo surgery, provide tactile feedback as the doctor along with the use of the automated tool that undergos surgery is more and more.
Portable forms also can be applied to family, for example, can eliminate calling set, pays a home visit in the clinic, even needs could to arrive emergency room behind several hours weariness from a tiring journey.This kind efficient can the total health care costs of appreciable impact.
Need all application of tactile data or the individual need in the non-adjacent position physical arrangement three-dimensional touch feeling model building all within the scope of the invention.
Simultaneously, the present invention is suitable under situation about not contacting by the actual body between object and the blind person, and the vision enhancing sufferer passes on or simulate the ability of the sensation of object.
First alternate embodiment
With reference to Figure 11, the figure shows first alternate embodiment of simulator assembly 600 formed according to the present invention.This alternate embodiment provides the ability that is used for writing down with the sense of touch part of playback physical examination.As described below, simulator assembly 600 is attempted the sense of touch partial record of physical examination in medical record, and for example resets for consultant, insurance doctor, patient, legal medical expert's sight, research, teaching, patient information etc.Simulator assembly 600 comprises the data handling system 628 that links to each other with body-form playback module 602.Data handling system 628 comprises the CD 626 (hereinafter referred to as CD) that stores digital data file 622 on it, the sense of touch part of digital data file 622 usefulness numeral physical examinations, as the inspection of using HCU 100 described above or PEM200 to carry out.Data handling system 628 also comprises a controller, and computer 606 as everyone knows, and the latter has the computer software of the transmission that can control calibration, conversion, modeling and/or digital data file 622.The mode of well known cable 612 usefulness signal communications connects said modules.
During operation, the illustrated embodiment of simulator assembly 600 allows the previous inspection digital tactile data that derive, that save as digital data file 622 of basis that playback is write down in advance or stored on body-form playback module 602.Therefore, can use body-form playback module 602 to show or be reconstituted in long ago or the people that detects a long way off or the actual body feature of thing.
Digital data file 622 is numerals of physical examination.More precisely, digital data file 622 preferably is described in by the HCU of previously described embodiment and PEM and carries out a series of complex interaction effects between the rheostat, pneumatic means, microcontroller etc. of activated pressure transducer during the physical examination, optical encoder, motor control, piston type.In addition, when carrying out initial inspection, the method of utilizing the technical staff to know, record is used to describe the interactive numerical data between rheostat, pneumatic means and the microcontroller etc. of pressure transducer, optical encoder, motor, piston type of above-mentioned HCU and PEM, to create digital data file 622.
Can on any known digital data storage medium, write down or store above numerical data, storage medium such as CD 626, digital video disk (hereinafter referred to as DVD), CD, floppy disk, tape or known at present or still at the data storage medium of any other type of exploitation constitute digital data file 622 thus.Digital data file 622 by storage, physician user has the information that is suitable for being used for rebuilding check result and patient characteristic now, this information is used for following purpose, as medical literature, leave hospital continuation nursing when forwarding doctor at someone's beck and call to is perhaps as the educational aid that is used for MED, resident, patient and research.
Note that for those of skill in the art the accurate order of activity of finishing and action is well-known when carrying out physical examination, therefore be not described in detail.Simultaneously, although digit data sequence preferably obtains by the numerical data of obtaining during the record actual inspection in illustrated embodiment, but to those of skill in the art, obviously the digital data file 622 of storage can be to utilize any suitable known method to derive, for example, the expectation that utilizes computer to set up the different piece of the health that causes because of special disease touches drag model, and is hard as the abdominal part that causes because of appendicitis.
In illustrated embodiment, computer software can take out the digital data file 622 of storage, rebulids from the value of exerting pressure of the different piece of doctor's HCU 100 with from the sequence of the respective reaction of PEM 200.With respect to time above the specific part of the health that is detecting and position, utilize software system to shine upon the ordered mode of this action-reaction response.By reading the signature of the original PEM assembly that uses during the initial inspection, determine the anatomical position characteristic.
Conceptive, this process comprises the dynamic 3D model of developing the patient.This software is at first according to digital data file 622 definite PEM parts that use with HCU of storing.Then, this software is set up the pictorial representation (according to the PEM of the specific region of using) of the body part of being checked, and the numerical data of storage in the order reproduction digital data file 622.The input pressure value, pressure (pressure distribution) as the function of time, stroke movement value, and, be mapped to the specific region that these data are pointed to by the activated original PEM of applied force according to the assembly movement velocity of the tactile-surface of the HCU of initial applied pressure record.Simultaneously, with respect to parameter described above, the concurrent active force reaction that the PEM that conversion causes owing to the active force that is applied to HCU detects.
Because each PEM is made up of a series of little sub-components, so set up the mesh model that can shine upon active force and pressure data.Along the specific region of interested dissection, mapping is applied to a series of active forces of HCU and the reaction response of PEM then.By the sequence of this inspection of resetting, can determine the active force and the pressure-plotting of this inspection, and can create the model of lower floor's feature of the people that checked or thing.From with computer 606 that body-form playback module 602 directly links to each other, these data are downloaded to body-form playback module 602, perhaps transmit, and download to remote computer or body-form playback module 602 by communication network.
In computer communication field, communication network is well-known.According to definition, network is a sets of computer and the associate device that couples together with communication equipment or link.Network service can be nonvolatil, as utilizes cable, also can be provisional, as the connection that realizes by phone or Radio Link.The scale of network can change, from the Local Area Network of being made up of several computers or work station and associate device; Wide area network (WAN) to interconnection geographical position distributed computers and LAN; Arrive long-range access service (RAS) again via provisional communication link interconnect remote computer.Conversely, the Internet means gateway or the router that utilizes the conversion that makes things convenient for data transmission and heterogeneous networks, connects numerous isomorphisms and heterogeneous network.
Referring now to Figure 11-13 and be absorbed in body-form playback module 602, body-form playback module 602 is to be shaped according to three-dimensional (3D) physical model consistent with the dissection that uses PEM to check.For example, body-form playback module 602 is shaped simulating whole health, or interested any part, as thoracic cavity, abdominal part, head, neck, arm, hands, lower limb, foot, pelvis or finger.The illustrated embodiment of body-form playback module 602 is shaped, with the abdominal part of simulation human body.Although preferably use and the initial consistent body-form playback module 602 of dissection of checking the PEM that uses, also can select to use common body-form playback module.
In illustrated embodiment, body-form playback module 602 is to use softish half submissive material mold pressing such as gel, nylon, rubber, silicon or soft plastic matrix.Each body-form playback module 602 preferably includes and is used for the resilient outside contact surface on simulated skin surface 618.
Body-form playback module 602 comprises the array 630 of unit 632.Unit 632 is similar to the unit 204 of HCU 100 described above and PEM 200.Although sensory modulation subunit 506 described above detects and nucleus formation power,, obviously can select to construct the unit 632 of present embodiment so that only apply active force, and need not detection effect power those of skill in the art.Can utilize this class formation to come static table to appear the profile or the state of body, be out of shape as the abdominal cavity that causes owing to fracture of rib.
Can select the overall dimensions of body-form playback module 602 and the number of the unit 632 in each body-form playback module 602, to adapt to required application.The size and the location association of the unit 204 in the preferably direct and corresponding PEM 200 in each unit 632.Certainly, the movable common and PEM unit 204 of unit 632 is movable opposite.Conceptive, do analogy if use photographic negative to handle, PEM represents negative film, and body-form playback module 602 representative (positive) photos.
Referring now to Figure 13, each unit 632 comprises that the degree of depth is a cavity 634 of several millimeters, and the size of cavity and size are consistent with sensory modulation subunit among the corresponding PEM.A sensory modulation subunit 636 is housed in each cavity 634.The top of sensory modulation subunit 636 comprises a flat board 638, the latter uses the simulated skin material such as silicone rubber, soft plastic matrix or other suitable material to constitute, and other suitable material comprises natural, artificial or biomaterial (synthetical, mimic, artificial culture or engineering Skin Cell or succedaneum).Each flat board 638 preferably is similar to the finger tip size.For the sensitivity that increases this equipment and functional, can segment each unit 632, and each cavity 634 can be represented one group littler function sensory modulation subunit.
Describe typical sensory modulation subunit 636 now in detail.Sub-component 636 comprises a uniaxial pressure transducer 640 in the flat board 638 that is embedded in simulated skin.The work surface 642 of transducer 640 or compression face promptly, are faced the direction of user's hands up.Determine the orientation of transducer 640, thereby face the work surface 642 of pressure transducer 640 from user's input pressure.
Then, the flat board 642 of the simulated skin that has embedded pressure transducer 640 is installed on the support platform 644, the latter uses the rigid material such as metal or plastics to constitute.The bottom surface of support platform 644 is connected with variable pressure and generates equipment, and in illustrated embodiment, this equipment is the rheostat 646 of single channel piston type.Piston resistor 646 is according to the response signal that receives from data handling system 628 theres, provides contrary with respect to the bottom surface of the flat board 638 of simulated skin and presses or resistance.The all component that comprises each unit 632 of flat board 638, pressure transducer 640, support platform 644 and piston resistor 646 all is positioned at each unit cavity 634, and is supported by this cavity.In each cavity 634, provide hole 648, to insert the free movable end of piston resistor 646.In disclosed embodiment, select the size of hole 648, thereby support platform 644 exceeds the lower surface of cavity 634 slightly, so unique resistance of experiencing of user is the resistance of simulated skin slab 638 self.
Each unit 632 preferably includes second pressure transducer 650 on the separating surface of the bottom surface that is arranged in support platform 644 and simulated skin slab 638.The preferred orientation of second pressure transducer 650 is the direction that its work surface 652 is faced away from the bottom surface 654 of simulated skin slab 638.The function of second pressure transducer 650 is monitoring internal drags, and determines whether to keep in each unit 632 an amount of driving force.Use the purpose of these data to be, when for example touching and handling body-form playback module surperficial, guarantee to create suitable resistance mode with user's hands 605.
As selection, by use the linear actuators can each unit 632 in, generate and keep to select active force and pressure distribution, motor and or the optical encoder system, rather than piston resistor system can make up each unit 632.For example, with reference to Figure 14, the piston resistor 646 that can utilize mechanically actuated system 680 to replace among Figure 13.Mechanically actuated system 680 comprises linear actuators 656, and the latter comprises the stepper motor 684 that can drive linear gear rack 688.Stepper motor 684 comprises the gear 686 that is used to mesh and select to drive along its length direction tooth bar 688.The top of tooth bar 688 connects support platform 644.Therefore, as those of skill in the art's understanding, control step motor 684 be can select,, bottom surface applied pressure or resistance regulated thus to dull and stereotyped 638 so that drive tooth bar 688 and the support platform 644 that is connected with linear mode.Applied pressure or resistance depend on the response signal that receives from data handling system there.Although illustrated embodiment has been described the specific implementations of linear actuators 656,, can drive other linear actuators of knowing in this field of support platform 644 with linear mode and obviously can use with the present invention for those of skill in the art.
Mechanically actuated system 680 preferably includes an optical encoder 682.Optical encoder 682 comprises a gear 690, arrange gear 690 and tooth bar 688 engagements, thereby any linear movement of tooth bar 688 all can cause the related rotation of gear 690.Therefore, can use optical encoder 682 to monitor the position of tooth bar 688, and then the active force on the contact surface of the outer surface of indirect control and supervision flat board 638.
Referring now to Figure 11-15, the present invention can consider other sensory modulation subunit configurations.For example, suitable the present invention of sensory modulation subunit that single or multiple multi-path pressure transducers or resistor are installed in each unit uses.In this class formation,, determine the absolute change of pressure or resistance by calculating the summation of the active force that single or multiple multi-path pressure transducers or resistor apply.
With reference to Figure 11,, the body-form playback module 602 of illustrated embodiment is connected to end user's computer 606 via normal cable 612.
With reference to Figure 15, the figure shows the alternate embodiment of the unit 700 that is fit to above-mentioned simulator assembly use.In this alternate embodiment, the pressurized fluid media that unit 700 utilizes such as air, water, electrochemical gel or hydraulic fluid moves support platform 722 with linear mode.
Each unit 700 comprises an expanding chamber 702, and expanding chamber 702 has a difunctional inlet/outlet line 704, thereby allows the inflow and the outflow of pressurized fluid media.Valve 706 is regulated pressurized fluid media inflow expanding chamber 702 and is flowed out from expanding chamber 702.Each unit 700 also comprises one first single channel pressure transducer 708 and one second single channel pressure transducer 710.Determine the direction of first transducer 708, make the outward direction of its work surface, and determine the direction of second transducer 710, make the inward direction of its work surface in the face of expanding chamber 702 in the face of expanding chamber 702.Pressure transducer 708 and 710 function be, keeps required expanding chamber 702 pressure, with the resistance of feeling at the specific part of body region during the mock survey, and the touch pressure that applies of monitoring and recording user simultaneously.
Preferably the inlet/outlet line 704 of each unit 700 is connected to the storage hold 716 that is used for the storing pressurized fluid media (medium).Valve 706 is regulated pressurized fluid media flowing between the expanding chamber 702 of each unit 700 and storage hold 716.Flow into expanding chamber 702 and cause that expanding chamber 702 expands, thereby increase simulated resistance.Equally, outflow causes that expanding chamber 702 shrinks from expanding chamber 702, thereby reduces simulated resistance.
Pressure-applying unit 712 comprises conventional pressurized equipment, the pump 714 that is used for providing to storage hold 716 pressurized fluid media that for example links to each other with storage hold 716.Preferably pressure-applying unit 712 and relevant controlling hardware directly are integrated in the body-form playback module, although it can be in the outside of this module.
For example, use air can use semi-enclosed circuit design as the body-form playback module of pressurized fluid media, wherein pump 714 is drawn into the body-form playback module air outside in the storage hold 716 below the array that is arranged in unit 700.In a preferred embodiment, arrange many valves 706 in storage hold 716, wherein each unit 700 has the single valve 706 related with the expanding chamber 702 of each unit 700.Therefore, can select activation gate 706, with control pressurized fluid media flowing between storage hold 716 and each unitary expanding chamber 702.Therefore, single storage hold 716 directly communicates with each expanding chamber 702 via valve 706 between two parties.
Preferably pressure control circuit 718 is integrated in the storage hold 716, with cabin pressure in detecting, and to controller 720 these information of transmission, so that keep required storage hold pressure.After making suitable expanding chamber 702 pressurizations, realize required storage hold 716 pressure (consistent), and return consequent patient's response signal to HCU via controller 720 with HCU applied pressure signal.If necessary, the medium in the storage hold 716 is discharged in the atmosphere, to reduce the pressure of the pressure medium that comprises in the storage hold 716.Use the body-form playback module of hydraulic pressurized fluid media to comprise a self-holding sealing fluid circuit system, according to above-mentioned open, this class formation is conspicuous to those of skill in the art.
With reference to Figure 11, the function of body-form playback module 602 is, rebuild by using above-mentioned HCU and PEM to derive and the resistance of record and the internal model of pressure, so that be provided at long ago or the current on-the-spot reproduction of the sense of touch at a certain position of the patient body felt from afar for the user.Subsequently can manipulation of physical body-form playback module 602, for example, another user's sensation simulation sense of touch that the examiner feels during initial the inspection.
Although above-mentioned embodiment of the present invention is to describe from the particular medical aspect that is used for illustration purpose, but the those of skill in the art of association area should be appreciated that, the essence of disclosed first alternate embodiment is illustrative, should not be interpreted as its application and be limited to the reconstruction actual physiology discovery relevant with physical examination.Therefore, for those of skill in the art, obviously this alternate embodiment is widely used, and can use in needing the situation of tactile data, uses when perhaps the individual need in non-adjacent position carries out three-dimensional modeling to physical arrangement.For example, embodiment formed according to the present invention is suitable for using in non-medical applications, for example use in (as archaeology or biology) in science and use, on-the-spot scientist may need or wish that the colleague to its higher level's tissue returns the tactile properties of its discovery/work this moment.Therefore, embodiment formed according to the present invention is suitable for using with the non-life body project except that human body.
Second alternate embodiment
In yet another embodiment of the present invention, the haptic data that is fit to the show business use is integrated in the entertainment media, for example in DVD, the CD of the film that the sense of touch introducing is prerecorded, Voice ﹠ Video form, computer game and the TV broadcasting.With reference to Figure 16, the figure shows tactile playback assembly 800.Tactile playback assembly 800 comprises playback apparatus 802, Multi Channel Controller 804, and interactive pressure playback garment 806.
The outward appearance and the class of operation of the playback apparatus 802 of present embodiment are similar to DVD player.Yet those of skill in the art are appreciated that playback apparatus 802 can take the storage data of for example numerical data and so on can be converted to the various suitable forms of the control signal of using for interactive pressure playback garment 806.For example, can accept the media storage device such as CD, digital magnetic tape DAT, mp3 file, hard disk unit, and the digitally coded haptic data that can change on it storage all can be used with the present invention with any playback apparatus 802 of the interactive pressure playback garment 806 that is transferred to consumer/user and dresses.The structure of interactive pressure playback garment 806 and class of operation are similar to the PEM equipment that above-mentioned embodiment is described.Interactive pressure playback garment 806 can cover user's whole health by way of illustration, perhaps only covers this user's a part, as thoracic cavity, abdominal part, arm, hands, lower limb, foot etc.
During operation, interactive pressure playback garment 806 receives the haptic data with the digital form coding that playback apparatus 802 sends, these data are converted to input signal, and numerous variable pressures of installing in the array with the unit 808 of drive arrangement in interactive pressure playback garment 806 generate equipment.Select activation pressure to generate equipment so that apply required active force or sense of touch to the user who dresses interactive pressure playback garment 806.Pressure generates equipment and is above describing, and therefore repeats no more.Yet, be appreciated that and can simplify interactive pressure playback garment 806, thereby the unit of coat 806 only can apply active force, and need not detection effect power.Therefore, the interactive pressure playback garment 806 through simplifying then can be eliminated an above-described pressure transducer if desired.
Tactile playback assembly 800 allows tactile data is encoded, and is integrated in the existing Voice ﹠ Video information, is applied to the entertainment media of form of ownership then, comprises computer game, film and based on the audio/video transmission of the Internet.For example, by the haptic events data integration in the DVD film, some sense of touch of the action of being play can be experienced by consumer.Example comprises, in terrified or mysterious accident, can feel to be put into from their back the hands on certain personage's the shoulder, and that can feel that personage in the action movie suffers punching or kicking.As those of skill in the art's understanding, can be integrated into similar application in the entertainment media of computer game and other form.As those of skill in the art's understanding, playback apparatus 802 can be operated, so that transmit data by communication network to the playback coat 806 that is positioned at non-adjacent position.
The 3rd alternate embodiment
With reference to Figure 17, the 3rd alternate embodiment formed according to the present invention is described in the mode of sense of touch record component 850.Sense of touch record component 850 comprises recording equipment 852, Multi Channel Controller 854, and interactive pressure playback garment 856.
Recording equipment 852 stores the digitally coded haptic data that receives from interactive pressure playback garment 856 theres on the media storage device into.The outward appearance and the class of operation of the recording equipment 852 of illustrated embodiment are similar to DVD recorder.In preferable use, user (as actor or superfine performer) dresses interactive pressure playback garment 856.Use external force (as second actor or superfine performer) bump interactive pressure playback garment 856 then.The recording equipment 852 that utilization links to each other with interactive pressure playback garment 856 by signal communication, the tactile forces that record applies to interactive pressure playback garment 856.Therefore, can create digital data file, utilize the playback apparatus 802 on the interactive pressure playback garment 806 of the alternate embodiment that Figure 16 describes to carry out playback then.
During operation, tactile forces on numerous sensory modulation subunit that interactive pressure playback garment 856 receives in the array that is installed in unit 858, the tactile forces that receives is converted to output signal, then this output signal is sent to Multi Channel Controller 854.Sensory modulation subunit can generate the variable output signal of value, thereby the value of output signal is related with the value of tactile forces on being applied to sensory modulation subunit.Multi Channel Controller 854 is handled the signal that receives from interactive pressure playback garment 856 theres, and treated signal is transferred to recording equipment 852 stores.The structure of the sensory modulation subunit of interactive pressure playback garment 856 and class of operation are similar to the sensory modulation subunit of the PEM equipment of above embodiment description, therefore are not described in detail herein.Although interactive pressure playback garment 856 is described as covering user's whole health, but those of skill in the art should be appreciated that, interactive pressure playback garment 856 can select to cover this user's arbitrary portion, as thoracic cavity, abdominal part, arm, hands, lower limb, foot etc.
With reference to Figure 16 and 17, although digital data file is created by dressing interactive pressure playback garment 856 in first-selected embodiment, but those of skill in the art should be appreciated that, need not also can utilize other method to generate data file, for example utilize computer to generate digital data file by interactive pressure playback garment 856.In addition, obviously can be directly connected to interactive pressure playback garment 856 in the close position to interactive pressure playback garment 806, perhaps when coat 806 and 856 is handled non-adjacent position, connect by the communication network such as global computer network.Therefore, dress first user of interactive pressure playback garment 806, can feel to dress the tactile forces that second user of interactive pressure playback garment 856 is subjected to.
The 4th alternate embodiment
The 4th alternate embodiment that is commonly referred to imaging inspection assembly 900 that Figure 18-21 expression is formed according to the present invention.Imaging inspection assembly 900 allows the doctor to check patient's body, and does not need the actual body contact between patient and the doctor.Imaging inspection assembly 900 comprises the imaging device 936 that can generate 2D or 3D inside or outside body imaging simultaneously.And imaging inspection assembly 900 obtains to have simultaneously the haptic data of body imaging data.Therefore, doctor/user can remote touch detects or handles problematic tissue or health, checks the inside and/or the external action of the tactile forces that is applied simultaneously.This kind ability has strengthened functional as the equipment of medical diagnostic equipment.
Imaging inspection assembly 900 is made up of three assemblies usually: the HCU (not shown), patient image-forming module 904 (hereinafter referred to as PEIM), and the computer software that obtains, calibrates, transmits and change that can control doctor and physics tactile data between the patient of non-adjacent position and Flame Image Process data.The HCU that describes in this HCU and Fig. 1-4 illustrated embodiment is roughly the same, therefore for repeating no more for simplicity.
PEIM 904 is generally the solid molded equipment of rectangular shape, and its size is approaching with people's hands.The advantage of this class formation be in light weight, be easy to move, the shaping and the profile of equipment be easy to processing, durable and shock resistance.Although the illustrated embodiment of PEIM 904 is a rectangle, those of skill in the art are appreciated that PEIM 904 can have any suitable shape.Yet the shape that PEIM904 has preferably can provide critical sensory, motor and imaging moiety and the people of checking or the comfortable contact surface between the thing of this equipment.
In illustrated embodiment, PEIM 904 has an end face that exceeds slightly 910, and the work surface 912 of bottom has slight depression or concave surface with respect to the edge of PEIM 904.The end face that exceeds slightly 910 allows patients that his hands is placed on the top of PEIM 904, and remains on the appropriate location or move according to the doctor's who checks at far-end the indication part along its health.As selection, can be designed to " glove " to PEIM 904, the patient can be inserted into whole hands among the PEIM 904.
Bottom work surface 912 divided into unit 914 of PEIM 904, the latter serves as tactile sensory processors.The sensation processing aspect of the sense of touch processing aspect of PEIM 904 and embodiment described above is roughly similar, and therefore, this paper only is briefly described.Tout court, unit 914 is to form by dig out many cavitys 916 (its degree of depth is generally several millimeters) in the molding of PEIM 904.In each cavity 916, a sensory modulation subunit 918 is installed.The electromechanics of sensory modulation subunit 918/pneumatic system architecture is identical with the sensory modulation subunit 918 that above embodiment is described, and therefore no longer repeats.
The size of each sensory modulation subunit 918 changes with the size of each cavity 916 among the PEIM 904.Usually, the size of each sensory modulation subunit 918 footprint and finger tip is approaching.In illustrated embodiment, show 2 * 4 matrixes of the unit 914 that 8 sensory modulation subunit 918 are installed.The size of sensory modulation subunit 918, shape and number can change, with the sensitivity that increases (or reduce, although be not first-selection) this equipment and functional.For example, in first-selected embodiment, sensory modulation subunit 918 be shaped as 4 * 4 matrixes that 16 sensory modulation subunit 918 are installed.Can segment each sensory modulation subunit 918, therefore, each cavity 916 can be represented one group littler function sensory modulation subunit 918.
The imaging system function of PEIM 904 preferably is provided by the ultrasound imaging techniques platform.In the illustrated embodiment of PEIM 904, arrange imaging device 936 along the middle part of the bottom surface 912 of PEIM 904.Imaging device 936 comprises the linear array transducer 908 with ultrasonic signal generation and receiving ability.Linear array transducer 908 comprises uses the standard signal gating technique to send multifunctional energy converter 920 with received signal.On linear array transducer 908, arrange the simulated skin surface of forming by the non-interfering material such as gel matrix material 922.Because air disturbs required hyperacoustic transmission, so apply gel-type vehicle on the separating surface between linear array transducer 908 and patient's the skin.The structure of linear array transducer 908 and frequency change with the desired function of PEIM 904 and required hyperacoustic length of penetration.Usually, the used equipment of underlying tissue structure imaging has linear array transducer 908 than the low transmission frequency with utilization, and the imaging of more shallow structure has utilization the linear array transducer 908 of upper frequency capacity.
Systems soft ware and HCU that expectation PEIM 904 describes with above embodiment use.PEIM 904 is connected on the computer or communication equipment (not shown) that is positioned at patient end.The patient arrests PEIM 904, and moves it according to doctor's indication along its health.By communication network, the doctor uses HCU to PEIM 904 sending pressure signals.Then, PEIM904 detects the contrary of patient and presses reaction, and transmits the consequent contrary signal of pressing to HCU.
In addition, PEIM 904 can transmit and receive ultrasonic pulse information.In first-selected embodiment, via communication network, transmit the process software from the computer of doctor end and send signal, activating the linear array transducer 908 in the PEIM 904, and transmit ultrasonic signal to the patient.Then, carry out the gating function, and same linear array transducer 908 receives the echo that returns.This information is returned master computer to the doctor.
In illustrated embodiment, can use well-known Flame Image Process that B pattern, spectrum, duplex and/or colour information are provided.Carry out the doctor who checks by communication network and preferably can obtain this information in real time.As other function of imaging inspection assembly 900, can store and this digital information of playback, merge haptic events data and imaging data thus.
Additional device configurations can be used for above-mentioned PEIM, for example, PEIM is configured to the coat that can wear, checks that wherein liner is applied directly on the patient's body that will check, and utilizes the movable fastener such as the shackle fastener to be fixed to the appropriate location.The shackle fastener provides adjustable, thereby can be applied to the various bodily forms and size.Can make the vest that is used for chest applications to PEIM; The bellyband that is used for abdominal applications; Be used for sleeve, gauntlet bandage or glove that upper limb is used; Be used for trouser legs or boots that lower limb are used; Or be used to point or the fillet band of the little application of toe and so on.Additional form also comprises the sensory modulation subunit based on hydraulic pressure described above or pneumatic system.
Via electrical umbilical 938, PEIM 904 is connected to order control chamber (not shown), perhaps be directly connected on the computer or transmission equipment of patient end.The order control chamber comprises well-known power supply, little central processing unit, and signal processor, digital to analog converter, and communication system, PEIM 904 utilize this system to receive and transmit data, and link to each other with the functional part of doctor's HCU.
Communication system comprises internal modems, thereby can connect communication network, computer, or be directly connected to continental rise or direct connection telephone line or support any existing or future equipment of following communication: (1) comprise fiber channel and non-optical fiber based on light/communicate by letter based on optical, data/voice/video-signal transmission method based on light, (2) radio communication, include but not limited to transmit or to receive the radio frequency of voice and/or data message, hyperfrequency, microwave or satellite system, and (3) utilize any following method of present unworn medium transferring voice or data, unworn medium such as infrared light, magnetic force, visible and the invisible ray of other wavelength, biomaterial (comprising biorobot or viral vector) or atomic particle/subatomic particle.
In order to reduce the weight that directly affacts on the patient, reduce the size of PEIM, when particularly PEIM 904 being put into sub-fraction on the health such as extremity or finger, and/or increasing the safety RF or the microwave radiation of communication/transfer of data (reduce) of these parts, the control section of PEIM904 is preferably away from the patient.As those of skill in the art's understanding, electrical umbilical 938 comprises between the variable force generation equipment that is arranged in pressure transducer and sensory modulation subunit, and the connecting line between imaging device 908 and the power supply.
As those of skill in the art's understanding, also can be the single or multiple multichannel transducer/resistance equipments of PEIM 904 configurations, wherein via the absolute change of HCU (not shown) to user's hands passback resistance.For the sensitivity that increases PEIM 904 and functional, can segment each unit 914, and in whole PEIM 904, use many sensory modulation subunit.
Although in the above-described embodiment linear array transducer 908 is arranged in and installs among the unit 914 isolating PEIM 904 of sensory modulation subunit 918, but those of skill in the art should be appreciated that, other structure also is feasible, and within the scope of the invention.For example, as shown in Figure 21, can in each unit 914, arrange ultrasonic transducer, thereby each unit comprises sensory modulation subunit and ultrasonic transducer 908 simultaneously.
Figure 22 is a flow chart, the general processing that expression is related with imaging inspection assembly 900.The various functions of software control HCU, PEIM, mechanics of system and communication protocol.Except that the supplementary features relevant with imaging of the present invention aspect, the specific function of software 1000 is similar to the function that aforementioned embodiments is described.Therefore, below discuss those aspects of using when being absorbed in aspect the imaging of control PEIM 904, and, be not described in detail previously described software function for for simplicity.
The Add-ons function comprises all ultrasound signal transmission, gating and communication protocol, and the distinctive signal processing capacity, signal analysis and the processing command that are used to provide B pattern, spectrum analysis, colour and/or duplexing doppler image.By using in linear array transducer 908 and communication network between the remainder of PEIM 904 of haptic data being provided, this software control is used for the original equipment transmission protocol that transmits and receive data.
With reference to Figure 22, computer 1014 generates one and sends signal according to the pulse that receives from pulse generator 1024 theres.Microprocessor 1016 receives this and sends signal, wherein can be integrated into microprocessor 1016 in the computer 1014.Utilize this transmission signal of software processes, by the computer network such as global computer network 1012, be transferred to linear array transducer 1002, signal or be digital signal, perhaps be analogue signal, this depends on that this transmission signal is by digital gate circuit 1006 or by digital-to-analogue conversion gate circuit 1004.Linear array transducer 1002 receives and handles this transmission signal, and the transmission signal that response receives generates ultrasound wave.Ultrasound wave is pointed to patient's body.Handle the ultrasound wave that returns of linear array transducer 1002 receptions,, be transferred to microprocessor 1008 via suitable digital gate circuit 1006 or analog digital conversion gate circuit 1004.Microprocessor 1008 is handled the signal that receives, and this signal is transferred to computer 1010.Computer 1010 is handled the signal that receives, and by computer network 1012, with the transfer of data of treated representative ultrasonography to second computer 1014.
Computer 1014 is handled the data that receive, and transfer of data is arrived microprocessor 1016, then, arrives accepters 1026 by digital gate circuit 1018 or digital-to-analogue conversion gate circuit 1020.Accepter 1026 is handled the data that receive, so that use for tonal gradation display device or colour display device, and this transfer of data is arrived memorizer 1028, preferably is transferred to display device 1030.Display device 1030 usefulness visual means show this data, so that use for user/doctor.
The various assemblies of pulse generator 1024 synchronous described systems.More precisely, such just as known as technical staff, supersonic imaging device transmits ultrasound wave in a short time.Close the transfer function of transducer then, this ultrasonic transducer is listened to back echo in a short time.Pulse generator 1024 transmit timing pulses are with the variety of event that takes place during triggering and the synchronous ultrasonic imaging processing.
The pulse generator 1024 and memorizer 1028, accepter 1026 and amplifier 1022 that connect illustrated embodiment of the present invention with the mode of signal communication.In case amplifier 1022 is received the pulse from pulse generator 1024, amplifier 1022 is with regard to the output signal of formation voltage form, and this signal or sensing digital gate circuit 1018 perhaps point to analog digital conversion gate circuit 1020, to be transferred to microprocessor 1016.In microprocessor 1016, handle this signal, be transferred to computer 1014 then.Computer 1014 is further handled this signal, by the communication network such as the Internet 1012, is transferred to another computer 1010.Computer 1010 is handled this signal, and this signal is transferred to microprocessor 1008 so that further handle.Then, microprocessor 1008 is transferred to digital gate circuit 1006 or digital-to-analogue conversion gate circuit 1004 with this signal, preferably by signal amplifier 1003, is transferred to transducer array 1002.According to the signal that transducer array 1002 receives, transducer array 1002 or take transmission configuration perhaps takes to receive configuration.
Although embodiments of the present invention are to describe from the particular medical aspect that is used for illustration purpose, but the those of skill in the art of association area should be appreciated that, the essence of disclosed alternate embodiment is illustrative, should not be interpreted as its application and be limited to the reconstruction actual physiology discovery relevant with physical examination.Therefore, should be appreciated that alternate embodiment is widely used, and can in needing the situation of tactile data, use, use when perhaps the individual need in non-adjacent position carries out three-dimensional modeling to physical arrangement.
For example, although illustrated embodiment of the present invention is described as simulating the patient's body inspection that is positioned at remote locations, but the additional application in the medical domain also is included in the ability of in the hostile environment patient being checked, hostile environment such as deep-sea, space, battlefield surroundings, remote locations, locations comprise sense of touch inspection and real-time embedded imaging capability simultaneously.In addition, portable forms can be applied to such as the medical station in the workshop, so the patient need not the clinic that the doctor is gone in the work of leaving behind.And the work of leaving behind to go to the clinic all be very invalid to patient and doctor.Portable forms also can be applied to family, and some assessment needing can avoid several hours the weariness from a tiring journey emergency room that goes to.This kind efficient can the total health care costs of appreciable impact.In addition, illustrated embodiment is suitable for other science and uses (as archaeology, biology or deep-sea), and on-the-spot scientist may need or wish that the colleague to its higher level's tissue returns the sense of touch and the internal image character of its discovery/work this moment.
Although illustrate and described preferred implementation of the present invention, should be appreciated that, can make various changes and do not deviate from the spirit and scope of the invention.

Claims (16)

1. simulator assembly that is used to simulate the tactile response of true project, this simulator assembly comprises:
(a) playback module, has data file according to the sense of touch inspection generation of true project, this playback module uses this data file to simulate the tactile characteristics of true project, and wherein the shape of playback module is at least the part of true project, and this playback module comprises a shell;
(b) be arranged in the inner and a plurality of cavitys below shell of playback module; And
(c) a plurality of sensory modulation subunit, at least a portion of each sensory modulation subunit is arranged in the cavity of a plurality of cavitys, the input signal that each sensory modulation subunit response receives applies active force to shell, and wherein the input signal of Jie Shouing reacts to the active force that is applied on the playback module.
2. the simulator assembly of claim 1, wherein sensory modulation subunit comprises that also an active force that is applicable to that response applies generates the pressure transducer of output signal.
3. the simulator assembly of claim 2 also comprises the computer system that its function links to each other with sensory modulation subunit, computer system transferring input signal wherein, the active force that applies with dynamic control feel regulon assembly.
4. the simulator assembly of claim 3, wherein computer system also receives the output signal that sensory modulation subunit generates, and wherein uses the output signal that receives to determine the sensory modulation subunit input signal.
5. the simulator assembly of claim 4, wherein computer system also comprises a memory module, this module comprises the data of the robustness that is used for defining the project that simulated, and wherein utilizes these data to determine the sensory modulation subunit input signal.
6. the simulator assembly of claim 4, wherein sensory modulation subunit comprises the rheostat of piston type.
7. the simulator assembly of claim 4, wherein sensory modulation subunit comprises linear actuators.
8. the simulator assembly of claim 7, wherein sensory modulation subunit also comprises optical encoder, the motion that optical encoder detects linear actuators also generates response signal.
9. the simulator assembly of claim 4, wherein sensory modulation subunit comprises the expanding chamber that is suitable for receiving pressure fluid.
10. the simulator assembly of claim 9 also comprises the reservoir of pressure fluid, and wherein utilizes fluid to connect a plurality of sensory modulation subunit and the reservoir that has valve.
11. the simulator assembly of claim 1 wherein simulated the part that project is a human body.
12. the simulator assembly of claim 11, wherein data file comprises the part of patient's medical record.
13. one kind is used for the long-range equipment that the patient is carried out direct labor's inspection, comprises:
(a) have the manual part of at least one first sensory modulation subunit, first sensory modulation subunit:
(i) active force of active force that applies on detection first sensory modulation subunit and response detection generates first signal, and
(ii) the secondary signal of response reception applies active force;
(b) patient examination module, patient examination module have a plurality of second sensory modulation subunit, and second sensory modulation subunit can be selected to be connected with first sensory modulation subunit, so that:
(i) second sensory modulation subunit receives first signal, and first signal that response receives applies active force, and
(ii) detect the active force of resisting the active force that applies, and generate secondary signal according to the drag that detects, secondary signal is received by first sensory modulation subunit; And
(c) recording equipment, this equipment carry out signal with first and second sensory modulation subunit communicates by letter, and first and second signal records in medical record, are checked thereby can simulate the direct labor afterwards.
14. the equipment of claim 13, wherein first sensory modulation subunit is carried out signal with first computer and is communicated by letter, and second sensory modulation subunit is carried out signal with second computer and communicated by letter, and wherein communication network selects to connect first computer and second computer.
15. the equipment of claim 14, wherein communication network moves on global communications network.
16. the equipment of claim 13, wherein manual part and patient examination module are positioned at non-adjacent position.
CNB038243563A 2002-10-18 2003-01-27 Direct manual examination of remote patient with virtual examination functionality Expired - Fee Related CN100399993C (en)

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